iphone - Find distance using accleremoter, gyroscope and Device motion and also use double integration -


i want calculate distance 1 point point, when start capturing accelerometer data, , till stop that, should gather samples , should give me distance based on velocity, roll, pitch, yaw , displacement.

i have tried following code based on link1 , link2 double integration.

 (int = 1; < [arrxdata count]; i++)  {      //========================================================================      //old velocity      double v0 = [[arrvelocity objectatindex:(i-1)] doublevalue];       //time data      double t0 = [[arrtimedata objectatindex:(i-1)] doublevalue];      double t1 = [[arrtimedata objectatindex:(i)] doublevalue];       //acceleration data      double x0 = [[arrxdata objectatindex:(i-1)] doublevalue];      double x1 = [[arrxdata objectatindex:(i)] doublevalue];      //newvelocity     double v1 = v0 + (t1 - t0) * (x0 + x1)/2;     //========================================================================      //old distance     double d0 = [[arrdistance objectatindex:(i-1)] doublevalue];      //new distance     double d1 = d0 + (x1 - x0) * (v0 + v1)/2;     //========================================================================     //store distance & velocity      [arrvelocity addobject:[nsnumber numberwithdouble:v1]];     [arrdistance addobject:[nsnumber numberwithdouble:d1]];    //======================================================================== }

but above code gives negative values sometimes, , not sure, whether gives 100% correct result based on x acclearation values. here used x acceleration values after applying filter on it. used high pass filter reducing noise on x acceleration.

does know algorithm on can rely?

any appreciated.


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